scholarly journals Forward Kinematic and Jacobian Matrix for the Prosthetic Human Finger Actuated by Links

2021 ◽  
Vol 8 (6) ◽  
pp. 974-978
Author(s):  
Samara Munaem Naeem ◽  
Majid H. Faidh-Allah
Keyword(s):  
Kinematic Analysis ◽  
Jacobian Matrix ◽  
Forward Kinematics ◽  
Prosthetic Hand ◽  
Functional Requirements ◽  
Finger Joints ◽  
Prosthetic Finger ◽  
Human Finger ◽  
Forward Kinematic

The most important function of a prosthetic hand is their ability to perform tasks in a manner similar to a natural hand, so it is necessary to perform kinematic analysis to determine the performance and the ability of the prosthetic human finger design to work normally and smoothly when it's drive by two sets of links that embedded in its structure and pulled by a servomotor, so the Denvit-Hartenberg method was used to analyse the forward kinematics for the prosthetic finger joints to deduction the trajectory of the fingertip and the velocity of the joints was computed by using the Jacobian matrix. The prosthetic finger was modelled by the Solidwork - 2018 program and the results of kinematics were verified using MATLAB. The analyses that were conducted on the design showed that the designed prosthetic finger has the ability to perform movements and meets the functional requirements for which it is designed.

scholarly journals Forward kinematic analysis of Dobot using closed-loop method

2020 ◽  
Vol 9 (3) ◽  
pp. 153
Author(s):  
Javier Dario Sanjuan De Caro ◽  
Mohammad Rahman ◽  
Ivan Rulik
Keyword(s):  
Analytical Solution ◽  
Kinematic Analysis ◽  
Closed Loop ◽  
Dynamical Model ◽  
Forward Kinematics ◽  
Loop Method ◽  
Serial Robots ◽  
Forward Kinematic

Dobot is a hybrid robot that combines features from parallel and serial robots. Because of this characteristic, the robot excels for is reliability, allowing its implementation in diverse applications. Therefore, researchers have studied its kinematics to improve its capabilities. However, to the extent of our knowledge, no analysis has been reported taking into consideration the closed-loop configuration of Dobot. Thus, this article presents the complete analytical solution for the forward kinematics of Dobot, considering each link. The results are expected to be utilized in the development of a dynamical model that contemplates the dynamics of each element of the robot.

Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism for Rehabilitation

2007 ◽  
Author(s):  
Jody A. Saglia ◽  
Jian S. Dai
Keyword(s):  
Control System ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Forward Kinematics ◽  
Control System Design ◽  
Ankle Rehabilitation ◽  
Redundantly Actuated ◽  
Moving Platform

This paper presents the geometry and the kinematic analysis of a parallel manipulator developed for ankle rehabilitation, as the beginning of a control system design process. First the geometry of the parallel mechanism is described, secondly the equations for the inverse and the forward kinematics are obtained, then the forward kinematics is analyzed in order to define all the possible configurations of the moving platform. Finally the Jacobian matrix of the rig is obtained by differentiating the position equations and the singularities are investigated, comparing the non-redundant and redundant type of mechanism.

scholarly journals Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 31
Author(s):  
Alexey Fomin ◽  
Anton Antonov ◽  
Victor Glazunov ◽  
Yuri Rodionov
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Forward Kinematics ◽  
Rotational Angle ◽  
End Effector ◽  
Kinematic Chains ◽  
Position And Orientation ◽  
Manipulator Design ◽  
Forward Kinematic

The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision of carriages when they move along the circular guide. This is achieved by using cranks (links that provide an unlimited rotational angle) in the manipulator kinematic chains. In this case, all drives stay fixed on the base. The kinematic analysis provides analytical relationships between the end-effector coordinates and six controlled movements in drives (driven coordinates). Examples demonstrate the implementation of the suggested algorithms. For the inverse kinematics, the solution is found given the position and orientation of the end-effector. For the forward kinematics, various assembly modes of the manipulator are obtained for the same given values of the driven coordinates. The study also discusses how to choose the links lengths to maximize the rotational capabilities of the end-effector and provides a calculation of such capabilities for the chosen manipulator design.

Forward Kinematic Modeling of Conical-Shaped Continuum Manipulators

Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
A. H. Bouyom Boutchouang ◽  
Achille Melingui ◽  
J. J. B. Mvogo Ahanda ◽  
Othman Lakhal ◽  
Frederic Biya Motto ◽  
...  
Keyword(s):  
Neural Networks ◽  
Data Collection ◽  
Robot Control ◽  
Deep Neural Networks ◽  
Forward Kinematics ◽  
Kinematic Modeling ◽  
Experimental Platform ◽  
Continuum Manipulators ◽  
Forward Kinematic

SUMMARY Forward kinematics is essential in robot control. Its resolution remains a challenge for continuum manipulators because of their inherent flexibility. Learning-based approaches allow obtaining accurate models. However, they suffer from the explosion of the learning database that wears down the manipulator during data collection. This paper proposes an approach that combines the model and learning-based approaches. The learning database is derived from analytical equations to prevent the robot from operating for long periods. The database obtained is handled using Deep Neural Networks (DNNs). The Compact Bionic Handling robot serves as an experimental platform. The comparison with existing approaches gives satisfaction.

Kinematic Analysis of a Novel 3-DOF Parallel Mechanism with Actuation Redundancy

2013 ◽  
Vol 816-817 ◽  
pp. 821-824
Author(s):  
Xue Mei Niu ◽  
Guo Qin Gao ◽  
Zhi Da Bao
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Rbf Neural Network ◽  
Analysis Method ◽  
Parallel Kinematic Mechanism ◽  
Redundantly Actuated ◽  
Parallel Kinematic ◽  
Forward Kinematic ◽  
Kinematic Mechanism ◽  
Kinematic Solution

Kinematic analysis plays an important role in the research of parallel kinematic mechanism. This paper addresses a novel forward kinematic solution based on RBF neural network for a novel 2PRRR-PPRR redundantly actuated parallel mechanism. Simulation results illustrate the validity and feasibility of the kinematic analysis method.

Forward kinematic analysis of the 3- R P RS parallel manipulator

2017 ◽  
Vol 116 ◽  
pp. 262-272 ◽  
Author(s):  
Anirban Nag ◽  
Santhakumar Mohan ◽  
Sandipan Bandyopadhyay
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Forward Kinematic

Novel use of the Monte-Carlo methods to visualize singularity configurations in serial manipulators

2021 ◽  
Vol 15 (2) ◽  
pp. 7948-7963
Author(s):  
Mohamed Aboelnasr ◽  
Hussein M Bahaa ◽  
Ossama Mokhiamar
Keyword(s):  
Monte Carlo ◽  
Numerical Methods ◽  
Curve Fitting ◽  
Jacobian Matrix ◽  
Forward Kinematics ◽  
Graphical Methods ◽  
Kinematic Singularity ◽  
Serial Manipulators ◽  
Serial Robots ◽  
Contour Plots

This paper analyses the problem of the kinematic singularity of 6 DOF serial robots by extending the use of Monte-Carlo numerical methods to visualize singularity configurations. To achieve this goal, first, forward kinematics and D-H parameters have been derived for the manipulator. Second, the derived equations are used to generate and visualize a workspace that gives a good intuition of the motion shape of the manipulator. Third, the Jacobian matrix is computed using graphical methods, aiming to locate positions that cause singularity. Finally, the data obtained are processed in order to visualize the singularity and to design a trajectory free of singularity. MATLAB robotics toolbox, Symbolic toolbox, and curve fitting toolbox are the MATLAB toolboxes used in the calculations. The results of the surface and contour plots of the determinate of the Jacobian matrix behavior lead to design a manipulator’s trajectory free of singularity and show the parameters that affect the manipulator’s singularity and its behavior in the workspace.

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